Change the size of cylinder/rope in realtime (GameLogic)
Created two "endpoint" objects that move in gamelogic mode. Then grab their center location do some geometry and python code changes the cylinder (rope). only used one endpoint in the code below as the other endpoint was origin (0, 0, 0). Also note that this only watches one plane (x and z axis).

#get endpoint center location
boom_endpoint = boom_point.worldPosition

#get distance between endpoints    
y_pow = (boom_endpoint[2])**2
x_pow = (boom_endpoint[0])**2
rope_distance = math.sqrt(x_pow + y_pow)

#scale value for axis that need to be stretched 
new_scale = rope_distance/2

#angle between endpoints to rotate the rope
angle = math.asin(boom_endpoint[2]/rope_distance)             
rope.localOrientation = rope.localOrientation * mathutils.Vector((math.radians(0), angle, math.radians(0))) 
#apply scale and location changes
rope.localScale = mathutils.Vector((1, 1, new_scale))
rope.worldPosition = mathutils.Vector(((boom_endpoint[0]+0)/2, 0, (boom_endpoint[2]+0)/2))